CN108298084A - A kind of armed unmanned plane of autonomous crawl object - Google Patents
A kind of armed unmanned plane of autonomous crawl object Download PDFInfo
- Publication number
- CN108298084A CN108298084A CN201810010602.3A CN201810010602A CN108298084A CN 108298084 A CN108298084 A CN 108298084A CN 201810010602 A CN201810010602 A CN 201810010602A CN 108298084 A CN108298084 A CN 108298084A
- Authority
- CN
- China
- Prior art keywords
- gear mechanism
- gear
- bar
- unmanned plane
- steering engine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
Abstract
The invention discloses a kind of armed unmanned planes of autonomous crawl object, including body, photographic device, mechanical arm, communication and control device, the mechanical arm includes helm gear, half gear mechanism, rocker gear mechanism, the helm gear upper end is connected by rotary joint with body center lower section, lower end is connected with half gear mechanism, half gear mechanism passes through gear, the rack occlusion linkage rocker gear mechanism, identify by the photographic device on the body and the communication and control device and controls the mechanical arm opening and closing crawl object.The present invention may make the mechanical arm of unmanned plane more flexible when capturing object, more securely.
Description
Technical field
The present invention relates to air vehicle technique field more particularly to a kind of armed unmanned planes of autonomous crawl object, including machine
Body, photographic device, mechanical arm, communication and control device.
Background technology
Unmanned plane is the not manned aircraft using radio robot and the presetting apparatus provided for oneself operation.Nobody
Machine is widely used in recent years, in industries such as police, city management, agricultural, geology, meteorology, electric power, rescue and relief work, video captures,
Unmanned plane it is widely used.
With the continuous development of unmanned air vehicle technique, there is a kind of armed unmanned plane, it can not only in high-altitude flight, and
And it can realize that autonomous crawl to object, people can allow armed unmanned plane to enter some by remote control in the air as hawk
Inaccessiable hazardous environment carry out operation, the danger of the work substantially reduced simultaneously can effectively improve working efficiency.But
Current armed unmanned plane, freely in the prevalence of mechanical arm grasping movement underaction, working efficiency is low when capturing object, and
And mechanical arm dimensions is all to fix to match with unmanned plane, cannot at any time be exchanged, be used according to the actual needs of crawl work
When be inconvenient.It is entitled such as application No. is 201610368669.5《One kind can capture type movement unmanned plane》Middle promulgated by the State Council
Bright to propose a kind of armed unmanned plane, manipulator quantity is 2, and shape is similar to the palm that the mankind close up, and structure is fixed, according to
It is moved downward by pull rod group and the inside movement of connecting rod is pulled to make two manipulators completion grasping movement close to each other, grasping movement stiff
Firmly, the rotation and swing in any angle and direction cannot be carried out, cannot according to scene it is actual need adjust crawl position and
Angle, crawl effect difference and insecure, and mechanical arm dimensions is fixed matched, cannot be exchanged, when use very not
Just, practicability is not strong.
Invention content
In view of the deficiencies of the prior art, present invention solves the technical problem that being how to realize that the mechanical arm of armed unmanned plane is grabbed
Take flexible movements freely, securely and meet different crawl requirements.
In order to solve the above technical problems, technical solution provided by the invention be a kind of armed of autonomous crawl object nobody
Machine, including body, photographic device, mechanical arm, communication and control device, the mechanical arm include helm gear, half gear
Mechanism, rocker gear mechanism, the helm gear upper end are connected by U-shaped sliding slot bolt with body center lower section, under
End is connected with half gear mechanism, and half gear mechanism is led to by gear, the rack occlusion linkage rocker gear mechanism
The photographic device crossed on the body and the communication and control device identify and control the mechanical arm
Close crawl object.
The helm gear, including connection frame, upper steering engine, middle steering engine, lower steering engine, external gear, rack bar and upright bar, institute
It states steering engine, middle steering engine, lower steering engine and passes sequentially through the connection frame connection, the rod end is fixed on the lower steering engine connection
On frame, the upper steering engine is responsible for rotation in the vertical direction, and the middle steering engine is responsible for horizontal direction movement, and the lower steering engine is logical
The external gear bite strap moving teeth bar crossed thereon is moved up and down along the upright bar surface；
Half gear mechanism includes cross bar, half gear and connecting rod, and described cross bar one end is hinged with half gear center of circle, another
The upright bar lower end with the helm gear is held to fix, on the connecting rod of the connecting rod lower end and the rocker gear mechanism
End is hinged, and upper end and the rack bar lower end of the helm gear are hinged；
The rocker gear mechanism includes gripper, rocking bar, connecting rod, gear, and the gripper upper end is cut with scissors with described connecting rod one end
It connects, also hinged by the ear bar of upper end and the rocking bar lower end, the connecting rod other end is hinged on the institute of half gear mechanism
It states on connecting rod, the rocking bar upper end is hinged with top on the gear, and the gear links with half engaged gears；
Preferably, described is hingedly bearing hinge connection；
Preferably, half gear mechanism, rocker gear mechanism quantity are three groups and circumferentially 120 ° and are uniformly distributed, and synchronize reality
Existing opening and closing；
The body is in cross, rotor is provided on four vertex, rotor bottom is equipped with supporting rack；
The photographic device is mounted on the body, be responsible for the imaging identification of object and signal is given to the communication and
Control device；
The control device includes the mechanics sensor for being placed in gripper pawl top, is placed in mechanical arm and body abdomen company
Touch sensor, communication and the control circuit board at place are connect, is responsible for sending, receives communication signal and transducing signal and control the machine
Tool arm action.
The beneficial effects of the invention are as follows：
1, each rotary joint of mechanical arm of the invention can carry out any angle and direction by corresponding servos control
Rotation, swing and opening and closing, grasping movement nimbly and freely, crawl it is efficient.
2, mechanical arm frame body upper end be mounted on unmanned plane among part, the gripper installation interface portion
Point, it is changed to corresponding interface module, is adapted to any one half gear mechanism and gear mechanism for matching the interface, it is practical
Property is strong.
Description of the drawings
Fig. 1 is primary structure schematic diagram of the present invention；
Fig. 2 is mechanical arm primary structure schematic diagram；
Fig. 3 is mechanical arm partial sectional view.
Specific implementation mode
The specific implementation mode of the present invention is further described below in conjunction with the accompanying drawings, but is not the limit to the present invention
It is fixed.
Fig. 1, Fig. 2, Fig. 3 show the structural representation of the present invention, a kind of armed unmanned plane of autonomous crawl object, including machine
Body 1, photographic device, mechanical arm 2, communication and control device, the mechanical arm 2 include helm gear 21, half gear mechanism
22, rocker gear mechanism 23,21 upper end of the helm gear are connected by U-shaped sliding slot bolt with 1 center lower section of the body,
Lower end is connected with half gear mechanism 22, and half gear mechanism 22 passes through gear, the rack occlusion linkage rocker gear
Mechanism 23 identify by the photographic device on the body 1 and the communication and control device and described in controlling
2 opening and closing of mechanical arm capture object.
The helm gear 21, including connection frame 211, upper steering engine 212, middle steering engine 213, lower steering engine 214, external gear
215, rack bar 216 and upright bar 217, the upper steering engine 212, middle steering engine 213, lower steering engine 214 pass sequentially through the connection frame 211
Connection, 217 top of the upright bar are fixed on the lower steering engine 214 and connect on frame, and the upper steering engine 212 is responsible in the vertical direction
Rotation, the middle steering engine 213 is responsible for horizontal direction movement, and the lower steering engine 214 passes through 215 bite strap of external gear thereon
The rack bar 216 is moved to move up and down along 217 surface of the upright bar；
Half gear mechanism 22 includes cross bar 221, half gear 222 and pull rod 223,221 one end of the cross bar and half tooth
It is hinged to take turns 222 centers of circle, 217 lower end of the upright bar of the other end and the helm gear 21 is fixed, 223 lower end of the pull rod and institute
The ear end for stating half gear, 222 top is hinged, and upper end and 216 lower end of the rack bar of the helm gear 21 are hinged；
The rocker gear mechanism 23 includes gripper 231, connecting rod 232, rocking bar 233, gear 234,231 upper end of the gripper
It is hinged with 232 one end of the connecting rod, also hinged by the ear bar of upper end and 233 lower end of the rocking bar, 232 other end of the rocking bar
It being hinged on the cross bar 221 of half gear mechanism 22,233 upper end of the rocking bar is hinged with top on the gear 234,
The gear 234 is engaged linkage with half gear 222；
Preferably, described is hingedly bearing hinge connection；
Preferably, half gear mechanism 22,23 quantity of rocker gear mechanism are three groups and circumferentially 120 ° and are uniformly distributed, together
Step realizes opening and closing；
The body 1 is in cross, rotor is provided on four vertex, rotor bottom is equipped with supporting rack；
The photographic device is mounted on the body 1, is responsible for the imaging identification to object and signal is given to the communication
And control device；
The control device includes the mechanics sensor for being placed in 231 pawl top of the gripper, is placed in mechanical arm 2 and body 1
Touch sensor, communication and the control circuit board of abdomen junction are responsible for sending, receive communication signal and transducing signal and control
The mechanical arm 2 acts.
It may make the mechanical arm of unmanned plane more flexible when capturing object using technical solution of the present invention, more securely.
Embodiments of the present invention are described in detail above in association with attached drawing, but the present invention be not limited to it is described
Embodiment.For a person skilled in the art, without departing from the principles and spirit of the present invention, to these realities
The mode of applying carries out various change, modification, replacement and modification and still falls within the scope of the present invention.
Claims (9)
1. a kind of armed unmanned plane of autonomous crawl object, including body (1), photographic device, mechanical arm (2), communication and control
Device processed, the mechanical arm (2) include helm gear (21), half gear mechanism (22), rocker gear mechanism (23), the rudder
Machine device (21) upper end is connected by rotary joint with the body (1) center lower section, lower end and half gear mechanism (22)
It is connected, half gear mechanism (22) is by gear, the rack occlusion linkage rocker gear mechanism (23), by being mounted on
The photographic device on body (1), the communication and control device is stated to identify and control the mechanical arm (2) opening and closing crawl
Object.
2. the armed unmanned plane of autonomous crawl object according to claim 1, it is characterised in that：The helm gear
(21), including connection frame (211), upper steering engine (212), middle steering engine (213), lower steering engine (214), external gear (215), rack bar
(216) and upright bar (217), the upper steering engine (212), middle steering engine (213), lower steering engine (214) pass sequentially through the connection frame
(211) it connects, upright bar (217) top is fixed on lower steering engine (214) the connection frame, and the upper steering engine (212) is responsible for
Rotation in the vertical direction, the middle steering engine (213) are responsible for horizontal direction movement, and the lower steering engine (214) is by thereon
External gear (215) occlusion drives the rack bar (216) to be moved up and down along the upright bar (217) surface.
3. the armed unmanned plane of autonomous crawl object according to claim 1, it is characterised in that：Half gear mechanism
(22) include cross bar (221), half gear (222) and pull rod (223), described cross bar (221) one end and half gear (222) are round
The heart is hinged, and the upright bar (217) lower end of the other end and the helm gear (21) is fixed, pull rod (223) lower end and institute
The ear end stated above half gear (222) is hinged, and upper end and the rack bar (216) lower end of the helm gear (21) are hinged.
4. the armed unmanned plane of autonomous crawl object according to claim 1, it is characterised in that：The rocker gear mechanism
(23) include gripper (231), connecting rod (232), rocking bar (233), gear (234), gripper (231) upper end and the company
Bar（232）One end is hinged, also hinged by the ear bar of upper end and the rocking bar (233) lower end, the connecting rod（232）The other end is cut with scissors
It is connected on the cross bar (221) of half gear mechanism (22), half gear (222) axis of half gear mechanism (22)
The cross bar (221), the connecting rod of the heart, half gear mechanism (22)（232）It is hinged, the rocker gear mechanism
（23）The gear（234）Axle center be mounted on half gear mechanism (22) the cross bar (221) end, it is described to shake
Bar (233) upper end is hinged with top on the gear (234), and the gear (234) is engaged linkage with half gear (222).
5. the armed unmanned plane of autonomous crawl object according to claim 3 or 4, it is characterised in that：Described is hingedly axis
It holds hinged.
6. the armed unmanned plane of autonomous crawl object according to any one of claims 1 to 4, it is characterised in that：Described half
Gear mechanism (22), the rocker gear mechanism (23) quantity are three groups and circumferentially 120 ° and are uniformly distributed, and synchronous realize is opened
Open and close are closed.
7. the armed unmanned plane of autonomous crawl object according to any one of claims 1 to 4, it is characterised in that：The machine
Body (1) is in cross, rotor is provided on four vertex, rotor bottom is equipped with supporting rack.
8. the armed unmanned plane of autonomous crawl object according to any one of claims 1 to 4, it is characterised in that：It is described to take the photograph
Picture device is mounted on the body (1), is responsible for the imaging identification to object and signal is given to the communication and control dress
It sets.
9. the armed unmanned plane of autonomous crawl object according to claim 8, it is characterised in that：The control device includes
It is placed in the mechanics sensor on the gripper (231) pawl top, is placed in the mechanical arm (2) and the body (1) abdomen company
Touch sensor, communication and the control circuit board at place are connect, is responsible for sending, receives communication signal and transducing signal and control the machine
Tool arm (2) acts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810010602.3A CN108298084B (en) | 2018-01-05 | 2018-01-05 | Unmanned aerial vehicle with arm and capable of automatically grabbing object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810010602.3A CN108298084B (en) | 2018-01-05 | 2018-01-05 | Unmanned aerial vehicle with arm and capable of automatically grabbing object |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108298084A true CN108298084A (en) | 2018-07-20 |
| CN108298084B CN108298084B (en) | 2021-11-30 |
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ID=62868332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810010602.3A Active CN108298084B (en) | 2018-01-05 | 2018-01-05 | Unmanned aerial vehicle with arm and capable of automatically grabbing object |
Country Status (1)
| Country | Link |
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| CN (1) | CN108298084B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795691A (en) * | 2019-01-22 | 2019-05-24 | 浙江理工大学 | A kind of unmanned plane during flying grasping system |
| CN110466765A (en) * | 2019-08-29 | 2019-11-19 | 中国人民解放军国防科技大学 | A kind of accurate control system of hovering |
| CN112060066A (en) * | 2020-08-24 | 2020-12-11 | 中国矿业大学徐海学院 | Robot capable of automatically replacing street lamp adapter |
| CN112407211A (en) * | 2020-09-18 | 2021-02-26 | 桂林电子科技大学 | Golden-edge-like dragon louse swimming foot underwater propulsion device |
| CN112793792A (en) * | 2021-02-26 | 2021-05-14 | 上海润璋智能科技股份有限公司 | Unmanned aerial vehicle for delivering light and handy goods |
| CN113148161A (en) * | 2021-05-08 | 2021-07-23 | 金文浩 | Helicopter simulation search and rescue system |
| CN113459072A (en) * | 2021-07-29 | 2021-10-01 | 桂林电子科技大学 | Switchable series-parallel multi-arm grabbing unmanned aerial vehicle design |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795691A (en) * | 2019-01-22 | 2019-05-24 | 浙江理工大学 | A kind of unmanned plane during flying grasping system |
| CN110466765A (en) * | 2019-08-29 | 2019-11-19 | 中国人民解放军国防科技大学 | A kind of accurate control system of hovering |
| CN112060066A (en) * | 2020-08-24 | 2020-12-11 | 中国矿业大学徐海学院 | Robot capable of automatically replacing street lamp adapter |
| CN112407211A (en) * | 2020-09-18 | 2021-02-26 | 桂林电子科技大学 | Golden-edge-like dragon louse swimming foot underwater propulsion device |
| CN112793792A (en) * | 2021-02-26 | 2021-05-14 | 上海润璋智能科技股份有限公司 | Unmanned aerial vehicle for delivering light and handy goods |
| CN113148161A (en) * | 2021-05-08 | 2021-07-23 | 金文浩 | Helicopter simulation search and rescue system |
| CN113459072A (en) * | 2021-07-29 | 2021-10-01 | 桂林电子科技大学 | Switchable series-parallel multi-arm grabbing unmanned aerial vehicle design |
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| CN108298084B (en) | 2021-11-30 |
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